CN108175535A - A kind of dentistry spatial digitizer based on microlens array - Google Patents
A kind of dentistry spatial digitizer based on microlens array Download PDFInfo
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- CN108175535A CN108175535A CN201711388686.6A CN201711388686A CN108175535A CN 108175535 A CN108175535 A CN 108175535A CN 201711388686 A CN201711388686 A CN 201711388686A CN 108175535 A CN108175535 A CN 108175535A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
- A61B1/247—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth with means for viewing areas outside the direct line of sight, e.g. dentists' mirrors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/04—Measuring instruments specially adapted for dentistry
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Abstract
The invention discloses a kind of for medical treatment and appropriate non-medical spatial digitizer more particularly to a kind of tooth three-dimensional measuring instrument.System provided by the invention includes：Image-pickup device and data processor.Image-pickup device includes：Main lens, microlens array, imaging sensor.Primary picture, into after primary picture, by microlens array is imaged onto on imaging sensor by main lens, forms secondary picture by tooth.Secondary picture by data processor is reverted to the depth information of tooth, and then obtains the three-dimensional information of tooth.It is of the invention compared with existing tooth three-dimensional measuring method, with it is simple in structure, at low cost, without scanning, without the projection of special lighting module, without huge advantages such as two digital cameras, the use of this instrument can reduce pain of the patient in tooth acquisition process, reduction sweep time keeps precision simultaneously, effectively improves the measurement efficiency of tooth.
Description
Technical field
The present invention relates to a kind of object dimensional surface fast measurement technique, especially suitable for tooth and other appropriate objects
Non-contact three-dimensional is imaged.
Background technology
In traditional teeth measuring method, doctor takes out dental impressions in the patient's mouth with dental impression material first, then
With gypsum or other materials injection stamp, after being repaired again answer mould, with hot investment casting again porcelain the methods of obtain last justice
Tooth.But moulage can not only cause the uncomfortable of patient and vomit, but also easily influenced by environmental factors such as temperature
And the three-dimensional appearance data that acquisition is inaccurate, also subsequently repairing and manufacturing process required time length, technique are cumbersome, in stamp system
The shortcomings of making to also need to patient's further consultation under failure scenarios.
Non-cpntact measurement means mainly obtain the light of dental surface based on optical measurement by active or passive mode
Information is learned, electric signal is then converted optical signal by detector, the three-dimensional information of acquisition is finally converted into digital information.
The major advantage of this mode is can not to contact the tooth of patient to directly acquire three-dimensional data, reduces the pain of sufferer, speed
Degree is fast, and precision is high, economical portable.By three-dimensional data storage into digital information, conveniently database can be not only established, is used
To instruct the diagnosis and treatment scheme of follow-up patient, and contribute to sufferer and the communication of doctor, doctor can be according to the situation of patient more
Add and neatly three-dimensional data is designed, is changed, can also be combined with computer-aided manufacturing (CAM), be quickly obtained tooth
Tooth threedimensional model.
There are mainly three types of measuring methods for tooth three-dimensional acquisition of information：Binocular stereo vision principle, laser triangulation and structure
Light sciagraphy.Three kinds of methods are briefly described below：
Patent CN201410097928 is based on binocular stereo vision principle, is shot simultaneously using dual camera, utilizes the later stage
The advantages of three-dimensional structure of data processing acquisition tooth, this method is that can obtain colour information and real time information, but this
The calculating of kind measurement method and placing attitude, the position of camera etc. have much relations, and system accuracy is low, and equipment instrument is big,
System mechanization integrates difficulty height, difficult design, and inconvenience uses；
Patent CN201010508330, CN201010029009, CN201080061297, CN201280038623,
CN201280077210、CN201310079109、CN201410012040、CN201410229007、CN201410437051、
CN201510371363, CN201610382526 are based on laser triangulation or structured light projection method realizes depth survey principle,
They are by special lighting module, and the mode of outlet laser or fringe structure light is projected on tooth, uses detector
The reflected light of dental surface is received, and scanning means is needed to be scanned, there are two types of scan modes：Moving teeth and portable lighting
Module changes striped in the position of dental surface.And carry out three-dimensional structure using triangulation principle or Phase- un- wrapping
Calculating, rebuild tooth three-dimensional model, both methods needs specific lighting module, increases the complexity of system, pole
The earth improves the cost of system；And such mode sweep time is long, the slight shake in scanning process is to be difficult to avoid that
, the error source of system can be made increase in scanning process, this will influence the essence that image is converted to three-dimensional information from two-dimensional signal
Degree；And the method is generally illuminated using laser or monochromatic LED light, can not generally obtain coloured image；And the method due to
The use of laser, it is sometimes desirable in dental surface coated white coating to avoid laser to the penetration of dental surface, coating
Presence can bring the decline of measurement accuracy, and the inconvenience that system is caused to use, can also cause patient discomfort with detest；And with
Binocular stereo vision principle is similar, and such method also needs to demarcate, and proving operation complexity is cumbersome, is not convenient to use.
Invention content
The object of the present invention is to provide a kind of tooth three-dimensional surface fast measurement technique, without scanning, without special lighting
Module projects, and without two digital cameras, without dental surface coating, to overcome existing dentistry spatial digitizer, time-consuming, mark
The shortcomings that fixed complicated for operation cumbersome, price is high.
In order to achieve the above objectives, the present invention uses following scheme：
Fast illuminated dentistry three-dimensional imaging instrument includes：
Image-pickup device and data processor.
Image-pickup device includes：Main lens, microlens array and imaging sensor, imaging sensor pass through data-interface
It is connected to computer.
Tooth is imaged first by main lens, at this point, as position is known as an image planes, imaging is known as primary picture.
Primary picture is imaged by microlens array again, at this point, imaging is known as secondary picture, imaging face position is imaging sensor institute
In position.Secondary seems multiple subgraphs of array arrangement, generally circular in cross section aperture, but may be square, hexagon etc.
Aperture.The ratio between primary picture and the size of subgraph each in secondary picture are set as M, and M should be greater than being equal to 2, ensure at this time once as in
Each point be at least imaged in two subgraphs of secondary picture.Wherein, it should be noted that the F numbers of main lens should match lenticule battle array
The F numbers of each lenticule in row avoid each subgraph imaging region from being more than the bore of each lenticule in microlens array, keep away
Exempt from overlapping each other between subgraph, be individually present each subgraph.Wherein, in microlens array the size of each lenticule and
Focal length can be all identical, can also be different.
Preferably, the main lens in described image capturing apparatus are used for tooth blur-free imaging.Main lens can be by tooth
Blur-free imaging, imaging are known as primary picture, and imaging position is known as an image planes, and the F numbers of main lens will match lenticule battle array
The F numbers of each lenticule on row.Wherein, F numbers are the ratio between the focal length of camera lens and Entry pupil diameters.
Preferably, the microlens array in described image capturing apparatus is used for once picture re-imaging to image sensing
Device forms secondary picture, obtain on the image sensor it is secondary seem after microlens array is split image array
Image.Microlens array is the Primary Component in the present invention, it has multiple lenticules of array arrangement, can be rectangular battle array
Row, but are not limited to square array, and the F numbers of each lenticule will as possible be matched with the F numbers of main lens, can be between each lenticule
It is identical to can also be different.The ratio between primary picture and the size of subgraph each in secondary picture are known as M.M is also equal to microlens array
The ratio between object distance and image distance.
Preferably, the imaging sensor in described image capturing apparatus is for receiving optical signal, and three-dimensional data is carried out
Acquisition, size should be not much different with microlens array, the number of the subgraph received on imaging sensor with it is each
Sub-image pixels number influences the depth resolution of three-dimensional reconstruction and the spatial resolution of image respectively, will be received by imaging sensor
To the optical signal of tooth reflection be converted to electric signal, electric signal is received by computer and forms image information.
Data processor includes three test, image preprocessing and three-dimensionalreconstruction parts, wherein test includes 3 steps, point
Not Wei steps 1 and 2,3, image preprocessing is step 4, and three-dimensionalreconstruction includes 3 steps, and respectively step 5,6,7 are as follows：
Step 1：The relative pose state of microlens array and imaging sensor is demarcated；
Step 2：During image procossing, the center position coordinates of each subgraph are determined；
Step 3：According to the arrangement mode of lenticule in microlens array, the area size of each subgraph, step 3 are determined
The pixel region and location of pixels of each subgraph have been codetermined with step 2；
Step 4：It is pre-processed according to relative pose state between determining lenticule and sensor to obtaining image；
Step 5：The big of multi-view image during disparity computation is determined according to the ratio between the object distance of microlens array and image distance M
Small m, and carry out the calculating of multi-view image；
Step 6：Parallax is calculated using multi-view image；
Step 7：Full filed depth map is calculated, parallax information is converted into three-dimensional coordinate information, forms full filed tooth three
Tie up imaging model.
Wherein part of detecting is optional step, that is, steps 1 and 2,3 is when instrument is used for the first time after installation is complete
Need what is carried out when carrying out initial configuration, without operation during use later.
Image preprocessing and three-dimensional reconstruction part, that is, need to run when step 4,5,6,7 follow-up measurement tooth
Step.
Step 1 the specific steps are：
The posture of microlens array and imaging sensor is demarcated, i.e., is likely to occur rotation in microlens array installation process
Turn, it is therefore desirable to calibrate the rotation angle between microlens array and imaging sensor.
Step 2 the specific steps are：
Subgraph center is demarcated, and calculates each subgraph barycenter according to image, barycenter is equivalent to each subgraph
The center of picture, according to the array distribution model of the arrangement mode structure subgraph inconocenter of lenticule in microlens array.
Step 3 the specific steps are：
Subgraph distribution grid is built, since imaging sensor will not be completely covered in array subgraph, it is therefore desirable to will be each
A subgraph maximum location is demarcated, with the areas imaging of clear and definite subgraph, according to lenticule in microlens array
Arrangement mode carries out the mesh generation of array subgraph.
Step 4 the specific steps are：
Angle between the imaging sensor and microlens array that are calculated according to steps 1 and 2,3 is as a result, carry out image
Pretreatment compensates influence caused by rotation angle.
Step 5 the specific steps are：
The ratio between object distance and image distance when being imaged due to lenticule M is more than or equal to 2, each point is at least imaged on two
In a subgraph, that is to say, that the image at more than two visual angles is included in each subgraph, therefore determines to regard using M more
The size m of angle image, is calculated M*M multi-view image,
Wherein, D is the diameter of lenticule in microlens array, and p is the size of each pixel in imaging sensor, and [] is to take
Integral function takes the maximum integer no more than D/kMp, and k is bore conversion coefficient, when subgraph is round,
Step 6 the specific steps are：
Parallax information can be calculated by multi-view image, the methods of using Feature Points Matching, carry out different visual angles image
Characteristic matching, and then parallax is calculated.
Step 7 the specific steps are：
Depth information is calculated according to parallax information, utilizes formula
Wherein Hi+1-HiIt is different coordinate values of the same point in two width subgraphs for parallax, D is micro- in microlens array
The bore of lens, b are the distance between microlens array and imaging sensor.The depth information of different zones image is spelled
It connects, obtains full filed depth information, depth map is integrated with space coordinate, is formed three-dimensional image, is obtained tooth three-dimensional model.
According to M*M obtained multi-view image, multigroup binocular vision stereoscopic three-dimensional model can be obtained, utilizes obtained multigroup three-dimensional
The methods of model is into column hisgram relevant matches improve the reconstruction precision of threedimensional model.
The fast illuminated dentistry three-dimensional imaging instrument of the present invention has structure compared with three-dimensional dentistry scanner of the prior art
Simply, it is at low cost, without scanning, without the projection of special lighting module, without huge advantages such as two digital cameras, have relatively strong
Novelty, can realize that fast accurate measures tooth, reduce time of measuring and pendulous frequency, effectively improve dental work person's
Working efficiency.And this equipment instrument is small, has stronger affinity, can promote the use wish of doctor and patient.This hair
It is bright to be combined with computer aided design/computer aided machine (CAD/CAM), make dentistry to digitlization, accurately
Change, intelligent development.
Description of the drawings
It, below will be to embodiment or existing skill in order to illustrate more clearly of the present embodiment or technical solution of the prior art
Attached drawing is briefly described needed in art description, it should be apparent that, the accompanying drawings in the following description is only the present invention
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also basis
Structure shown in these attached drawings obtains other attached drawings.
Fig. 1,2,3 are the schematic diagrames of image-pickup device：
It is respectively the figure of main lens, microlens array, detector in Fig. 1；
Fig. 2 is the assembling schematic diagram of main lens, microlens array, detector；
Fig. 3 is that figure is completed in the assembling of main lens, microlens array, detector, and wherein microlens array is in internal system.
Fig. 4 is the overall schematic of the system of the present invention, which includes main lens, microlens array, image sensing
Device, computer, data processor.System shoots the tooth or tooth model that are located on operation console, imaging sensor
It receives optical signal and is converted to electric signal, be transferred to computer after processing, it is sub to the array received by data processor
Image is handled, and obtains tooth three-dimensional model.
Fig. 5 is the detail view of microlens array in the present invention, and wherein lenticule arrangement mode is square array, each micro-
The bore of mirror is rectangular.
Fig. 6 is the flow chart of data processor in the present invention.
Specific embodiment
In the following description, we illustrate other aspects and its advantage of the invention by clear.We are with one kind in text
Unrestricted narrating mode, gives an instantiation method, and this description will be helpful to understand.Obviously, described reality
The part of the embodiment that example is only the present invention is applied, instead of all the embodiments.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiments obtained without making creative work, belong to protection of the present invention
Range.
Embodiment 1
It is the fast illuminated dentistry three-dimension object imager course of work of first embodiment in the present invention below.First embodiment
It is the test job before fast illuminated dentistry three-dimension object imager in the present invention is run for the first time after installation is complete, works as instrument
It is the specific work process of first embodiment below in the course of work of instrument later without running when not by dismounting：
The tooth that comes off is positioned on the operation console at fixed range, utilizes fast illuminated dentistry three-dimensional article proposed by the present invention
Body imager is shot.
Fast illuminated dentistry three-dimension object Image-forming instrument proposed by the present invention includes：
Image-pickup device and data processor.
Image-pickup device includes：Main lens, microlens array and imaging sensor, imaging sensor pass through USB interface
It is connected to computer.
The course of work of image-pickup device：
Tooth is located on the workbench at fixed range, is imaged first by main lens, main lens can be clear by tooth
Imaging, imaging are known as primary picture, and imaging position is known as an image planes, and the F numbers of attention main lens have to and lenticule
The F numbers matching of single lenticule on array.Wherein, F numbers are the ratio between the focal length of camera lens and Entry pupil diameters.
Microlens array is used to once picture re-imaging to imaging sensor, to form secondary picture, on the image sensor
Obtain it is secondary seem array subgraph after microlens array is split image, that is to say, that secondary seems array row
Multiple subgraphs of cloth, generally circular in cross section aperture, but may be square, hexagon equal aperture.It is primary as in secondary picture
The ratio between size of each subgraph is known as M.M is also equal to the ratio between object distance and image distance of microlens array.M should be greater than being equal to 2, at this time
Ensure that each point once as in is at least imaged in two subgraphs of secondary picture, it is also assumed that each subgraph is at least
Include the information at two visual angles.Wherein, microlens array has multiple lenticules of array arrangement, can be square array, but
Square array is not limited to, the F numbers of each lenticule will match the F numbers of main lens, otherwise, can cause the weight between array subgraph
Folded, the information between array subgraph cannot be distinguished, and can not obtain accurate array subgraph information, also can not just obtain three-dimensional
Information.Wherein, the size of each lenticule and focal length can be identical in microlens array, can also be different.
The optical signal of acquisition is converted to electric signal, and the telecommunications that will be converted by imaging sensor for receiving optical signal
Number it is transferred to the carrier of carrying data processor, the carrier of data processor described in the present embodiment is computer, but institute
The carrier for stating data processor is not limited to computer, arbitrary to have manipulation interface, receive the optical signal and be converted into electricity
Signal, and the device being connected with data processor, are similarly included within protection scope of the present invention.Imaging sensor
Integral face battle array size should be not much different with microlens array, the number of the subgraph received on imaging sensor and each subgraph
Influence the depth resolution of three-dimensional reconstruction and the spatial resolution of image respectively as pixel number.
Fig. 6 is the flow chart of data processor, and data processor includes test, image preprocessing and three-dimensional reconstruction three
A part, test include 3 steps, respectively steps 1 and 2,3, and image preprocessing is step 4, and three-dimensional reconstruction includes 3 steps, respectively walks
Rapid 5,6,7, testing results part is wherein only needed in the present embodiment, is as follows：
Step 1：The posture of microlens array and imaging sensor is demarcated；
Step 2：During image procossing, the center position coordinates of each subgraph are determined, determine the center of each subgraph；
Step 3：Determine that the area size of each subgraph and step 2 have codetermined the pixel region of each subgraph
With location of pixels；
Step 1 the specific steps are：
The posture of microlens array and imaging sensor is demarcated, i.e., is likely to occur rotation in microlens array installation process
Turn, it is therefore desirable to the rotation angle between microlens array and imaging sensor is calibrated, it will be between subgraph and imaging sensor
Alignment error compensation.
Step 2 the specific steps are：
Subgraph center is demarcated, and calculates each subgraph barycenter according to image, barycenter is equivalent to each subgraph
The center of picture, according to the array distribution model of the arrangement mode structure subgraph inconocenter of lenticule in microlens array.
Step 3 the specific steps are：
Subgraph distribution grid is built, since imaging sensor will not be completely covered in array subgraph, it is therefore desirable to will be each
A subgraph maximum location is demarcated, with the areas imaging of clear and definite subgraph, according to lenticule in microlens array
Arrangement mode carries out the mesh generation of array subgraph.
Part of detecting in first embodiment in data processor operation data processing routine, first embodiment are these
Fast illuminated dentistry three-dimension object imager in invention run for the first time after installation is complete before test job, when instrument does not have
It, need not operation in the course of work of instrument later during by dismounting.
Embodiment 2
It is the fast illuminated dentistry three-dimension object imager course of work of second embodiment in the present invention below.Second embodiment
It is the process that the fast illuminated dentistry three-dimension object imager in the present invention directly measures after the completion of test.Concrete workflow
Journey is as follows：
Tooth is positioned on the operation console at fixed range, using fast illuminated dentistry three-dimension object proposed by the present invention into
As instrument is shot.
Fast illuminated dentistry three-dimension object Image-forming instrument proposed by the present invention includes：
Image-pickup device and data processor.
Image-pickup device includes：Main lens, microlens array and imaging sensor, imaging sensor pass through USB interface
It is connected to computer.
The course of work of image-pickup device：
Tooth is located on the workbench at fixed range, is imaged first by main lens, main lens can be clear by tooth
Imaging, imaging are known as primary picture, and imaging position is known as an image planes, and notices that the F numbers of main lens must match lenticule
The F numbers of single lenticule on array.Wherein, F numbers are the ratio between the focal length of camera lens and Entry pupil diameters.
Microlens array is used to once picture re-imaging to imaging sensor, to form secondary picture, on the image sensor
Obtain it is secondary seem array subgraph after microlens array is split image, that is to say, that secondary seems array row
Multiple subgraphs of cloth, generally circular in cross section aperture, but may be square, hexagon equal aperture.It is primary as in secondary picture
The ratio between size of each subgraph is known as M.M is also equal to the ratio between object distance and image distance of microlens array.M should be greater than being equal to 2, at this time
Ensure that each point once as in is at least imaged in two subgraphs of secondary picture, it is also assumed that each subgraph is at least
Include the information at two visual angles.Wherein, microlens array has multiple lenticules of array arrangement, can be square array, but
Square array is not limited to, the F numbers of each lenticule will be matched with the F numbers of main lens, otherwise, can cause the weight between array subgraph
Folded, the information between array subgraph cannot be distinguished, and can not obtain accurate array subgraph information, also can not just obtain three-dimensional
Information.Wherein, the size of each lenticule and focal length can be identical in microlens array, can also be different.
The optical signal of acquisition is converted to electric signal, and the telecommunications that will be converted by imaging sensor for receiving optical signal
Number it is transferred to the carrier of carrying data processor, the carrier of data processor described in the present embodiment is computer, but institute
The carrier for stating data processor is not limited to computer, arbitrary to have manipulation interface, receive the optical signal and be converted into electricity
Signal, and the device being connected with data processor, are similarly included within protection scope of the present invention.Imaging sensor
Integral face battle array size should be not much different with microlens array, the number of the subgraph received on imaging sensor and each subgraph
Influence the depth resolution of three-dimensional reconstruction and the spatial resolution of image respectively as pixel number.
Fig. 6 is the flow chart of data processor, and data processor includes test, image preprocessing and three-dimensional reconstruction three
A part, test include 3 steps, respectively steps 1 and 2,3, and image preprocessing is step 4, and three-dimensional reconstruction includes 3 steps, respectively walks
Rapid 5,6,7, operation image pretreatment and three-dimensional reconstruction part are wherein only needed in the present embodiment, is as follows：
Step 4：It is pre-processed according to relative pose state between determining lenticule and sensor to obtaining image.
Step 5：It is determined to determine multi-view image during disparity computation according to the ratio between the object distance of microlens array and image distance M
Size m, and carry out the calculating of multi-view image；
Step 6：Parallax is calculated using multi-view image；
Step 7：Full filed depth map is calculated, parallax information is converted into three-dimensional coordinate information, forms full filed tooth three
Tie up imaging model.
Step 4 the specific steps are：
Angle between the imaging sensor and microlens array that are calculated according to steps 1 and 2,3 is as a result, carry out image
Pretreatment compensates influence caused by rotation angle.
Step 5 the specific steps are：
The ratio between object distance and image distance when being imaged due to lenticule M is more than or equal to 2, each point is at least imaged on two
In a subgraph, that is to say, that include the image at more than two visual angles in each subgraph, therefore utilize M and corresponding
Depth relationship determines the size m of multi-view image, M*M multi-view image is calculated.
Wherein, D is the diameter of lenticule in microlens array, and p is the size of each pixel in imaging sensor, and [] is to take
Integral function, takes the maximum integer no more than D/kMp, and k is depth Conversion Coefficient.
Root step 6 the specific steps are：
Parallax information can be calculated by multi-view image, the methods of using Feature Points Matching, carry out different visual angles image
Characteristic matching, and then parallax is calculated.
Step 7 the specific steps are：
Depth information is calculated according to parallax information, utilizes formula
Wherein Hi+1-HiIt is different coordinate values of the same point in two width subgraphs for parallax, D is micro- in microlens array
The bore of lens, b are the distance between microlens array and imaging sensor.The depth information of different zones image is spelled
It connects, obtains full filed depth information, depth map is integrated with space coordinate, is formed three-dimensional image, is obtained tooth three-dimensional model.
According to M*M obtained multi-view image, multigroup binocular vision stereoscopic three-dimensional model can be obtained, utilizes obtained multigroup three-dimensional
Model improves the reconstruction precision of threedimensional model into column hisgram relevant matches.
The measurement and reconstruction of tooth three-dimensional model are completed in a second embodiment.Second embodiment is fast in the present invention
Workflow of the illuminated dentistry three-dimensional imaging instrument during normal use, i.e., most of workflows using process.
The foregoing is merely the preferred embodiment of the present invention, are merely illustrative for the purpose of the present invention, and not restrictive；
Those of ordinary skill in the art understand that can carry out many to it in the spirit and scope limited in the claims in the present invention changes
Become, modification or even equivalent change, but fall within protection scope of the present invention.
Claims (10)
1. a kind of be used for medical field and appropriate non-medical three-dimensional object imaging device, which is characterized in that including：Image capture
Device (1) and data processor (2).
2. image-pickup device (1) as described in claim 1, it is characterised in that：Image-pickup device (1) includes main lens
(3), microlens array (4) and imaging sensor (5), imaging sensor (5) are connected to computer (6) by data-interface.
3. main lens (3) as claimed in claim 2, it is characterised in that：For by tooth blur-free imaging, imaging to be referred to as primary
Picture, imaging position is known as an image planes, and the F numbers of main lens (3) will match single lenticule (7) on microlens array (4)
F numbers；Wherein, the ratio between the focal length and Entry pupil diameters of F numbers for camera lens or lens.
4. microlens array (4) as claimed in claim 3, it is characterised in that：Three-dimensional information is used to form, it will be once as again
Be imaged onto imaging sensor (5), form secondary picture, obtained on imaging sensor (5) it is secondary seem that microlens array (4) is right
Image be split after array subgraph；Microlens array (4) is the key element in the present invention, and microlens array (4) has
There are multiple lenticules (7) of array arrangement, can be square array, but be not limited to square array, the F numbers of each lenticule (7)
The F numbers of main lens (3) are matched, can be the same or different between each lenticule (7).
5. imaging sensor (5) as claimed in claim 4, it is characterised in that：For receiving optical signal, and to microlens array
(4) three-dimensional information formed is acquired, and converts optical signals to electric signal, and give electric signal transmission to computer (6).
6. computer (6) as described in claim 5, it is characterised in that：For storing the figure that imaging sensor (5) receives
Picture, and as the hardware carrier of data processor (2), but the hardware of described image sensor (5) and data processor (2)
Carrier is not limited in a computer (6), can be it is any other have manipulate interface, the three-dimensional data and hair can be received
Go out to control the device of signal, can be one or more, data-interface can be USB interface, or other classes
Type data-interface, is similarly included within protection scope of the present invention.
7. data processor (2) as described in claim 1, it is characterised in that：Data processor (2) is including part of detecting
(8), image preprocessing part (9) and the part of three-dimensional reconstruction part (10) three；Wherein part of detecting (8) is installed in instrument
Into needing what is carried out during rear first time use, without operation, image preprocessing part (9) and three-dimensional during use later
The step of rebuild part (10) needs operation when being and subsequently measuring tooth and other objects.
8. part of detecting (8) as claimed in claim 7, it is characterised in that：Part of detecting (8) includes 3 steps, respectively step 1,
2nd, 3, it is as follows：
Step 1：The posture of microlens array (4) and imaging sensor (5) is demarcated；
Step 2：During image procossing, the center position coordinates of each subgraph are demarcated, determine the center of each subgraph；
Step 3：According to the arrangement mode of lenticule (7) in microlens array (4), the size and step 2 of array subgraph are demarcated
The pixel region and location of pixels of each subgraph are codetermined.
9. image preprocessing part (9) as claimed in claim 7, it is characterised in that：Image preprocessing part (9) is including step
4 one steps, for being carried out in advance according to relative pose state between microlens array (4) and imaging sensor (5) to obtaining image
Processing.
10. three-dimensional reconstruction part (10) as claimed in claim 7, it is characterised in that：Three-dimensional reconstruction part (10) includes 3 steps,
Respectively step 5,6,7, are as follows：
Step 5：According to the geometrical relationship M of microlens array (4) and corresponding depth, image block during disparity computation is determined
Size m, and carry out the calculating of multi-view image
Wherein, D is the diameter of lenticule in microlens array, and p is the size of each pixel in imaging sensor, and [] is rounding letter
Number, takes the maximum integer no more than D/kMp, k is depth Conversion Coefficient；
Step 6：Parallax is calculated using multi-view image；
Step 7：Calculate full filed depth map, parallax information be converted into three-dimensional coordinate information, formed full filed tooth three-dimensional into
As model.
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| CN201711388686.6A CN108175535A (en) | 2017-12-21 | 2017-12-21 | A kind of dentistry spatial digitizer based on microlens array |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109496316A (en) * | 2018-07-28 | 2019-03-19 | 合刃科技（深圳）有限公司 | Image identification system |
| CN109620201A (en) * | 2018-12-07 | 2019-04-16 | 南京国科医工科技发展有限公司 | Flexible multi-lead hat type brain magnetic instrument and its high-precision imaging method |
| WO2022126870A1 (en) * | 2020-12-15 | 2022-06-23 | Vomma (Shanghai) Technology Co., Ltd. | Three-dimensional imaging method and method based on light field camera and three-dimensional imaging measuring production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109496316A (en) * | 2018-07-28 | 2019-03-19 | 合刃科技（深圳）有限公司 | Image identification system |
| WO2020024079A1 (en) * | 2018-07-28 | 2020-02-06 | 合刃科技（深圳）有限公司 | Image recognition system |
| CN109496316B (en) * | 2018-07-28 | 2022-04-01 | 合刃科技（深圳）有限公司 | Image recognition system |
| CN109620201A (en) * | 2018-12-07 | 2019-04-16 | 南京国科医工科技发展有限公司 | Flexible multi-lead hat type brain magnetic instrument and its high-precision imaging method |
| WO2022126870A1 (en) * | 2020-12-15 | 2022-06-23 | Vomma (Shanghai) Technology Co., Ltd. | Three-dimensional imaging method and method based on light field camera and three-dimensional imaging measuring production line |
| EP4193905A1 (en) * | 2021-12-07 | 2023-06-14 | Sopro SA | Intraoral scanner, intraoral scanning system, method for performing intraoral scans and computer program product |
| WO2023104929A1 (en) * | 2021-12-07 | 2023-06-15 | Sopro Sa | Intraoral scanner, intraoral scanning system, method for performing intraoral scans and computer program product |
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